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As @stevemacenski said, easiest way to test their accuracy is a simulation environment which you could directly access to the ground truth data. This was what I did to compare effects of navigation's parameters' changes 3 years ago.

But; maybe in a testing environment, you could measure exact positions of multiple points in a room, then navigate the robot manually to those positions continuously on maps generated by both those algorithms. After navigating between those points enough, you could have enough data to compare the performance.

Or let's say that this is an academic project and you could create an environment which you can place different sized AR tags everywhere. You can continuously collect the differences between navigation beliefs on generated maps by both packages and AR tag positioning reports.